robovast-nav

Test a mobile robot's navigation across the environments it will actually meet.

A navigation stack that works in one map has been demonstrated, not tested. robovast-nav extends RoboVAST — the framework that runs your robot software through hundreds of varied, recorded simulation runs — with the variation that matters for navigation: generated indoor floorplans with different rooms and connectivity, start and goal poses drawn across the free space, static obstacles, and obstacles that appear as the robot approaches them, the case that forces re-planning. Cross them in one campaign, and the framework does the rest.

pip install "robovast[nav]"

Seeing what the robot did

Each run comes back with a web view of the trajectory on the map, the costmap as the stack saw it, and the Nav2 behaviour tree as it ticked; a health check flags a control loop that could not keep its rate. An AI agent connected to the service can read the same map, trajectory and path deviation for any run. A video rendered from a run's recording carries the same costmap view as an inset (roqsim render --overlay costmap): the map, the costmaps, the driven trail and the robot, plus the planned path, goal and obstacles, read from the postprocessed files beside the recording.

Is this the package for me?

Yes, if your robot drives and you want to know where its navigation breaks. Nav2 is the reference stack, and RoboVAST's ready-made set of environments and scenarios is built on these variation types. If your robot does not drive, RoboVAST without this package still varies everything else; the navigation-specific parts are here so nobody else has to carry them.

Documentation: cps-test-lab.github.io/robovast.

Licence

Apache-2.0.